A method, device, and storage medium for calibrating a steering angle sensor

Abstract

The application provides a calibration method, device and equipment of a steering angle sensor and a storage medium. The calibration method comprises the following steps: determining first position information corresponding to a center line of a target front vehicle body component in a first coordinate system according to laser positioning data of each point on the target vehicle; determining second position information corresponding to the center line of the target front vehicle body component in a second coordinate system corresponding to a vehicle body steering shaft provided with the steering angle sensor; adjusting a position deviation between the first position information and the second position information in the same coordinate system by adjusting a target parameter in a coordinate conversion matrix between the first coordinate system and the second coordinate system; and calibrating a reading of the steering angle sensor according to the target parameter at the current time when the adjusted position deviation is less than or equal to a preset threshold. Thus, the application can realize automatic calibration and error detection of the steering angle sensor.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and more specifically, to a calibration method, apparatus, device, and storage medium for a steering angle sensor. Background Technology

[0002] Steering angle sensors are typically mounted on the steering axle of a vehicle to sense the angle between the front and rear of the vehicle body. They play a crucial role in vehicle automation control and are a prerequisite for ensuring the accuracy of automatic navigation control. However, mechanical wear can cause errors in the readings of steering angle sensors. Therefore, it is necessary to calibrate the steering angle sensors periodically to ensure that the readings of the calibrated steering angle sensors can represent the actual angle between the front and rear of the vehicle body.

[0003] Currently, existing calibration methods typically require operators to manually align the vehicle's front end as straight as possible. Based on the assumption that the steering angle sensor reading under straight-ahead conditions corresponds to a zero actual steering angle (i.e., the angle between the front and rear of the vehicle), and the linear relationship between the steering angle sensor reading and the actual steering angle, a linear relationship parameter can be calculated. This parameter is then used to calibrate the steering angle sensor reading, ensuring that the calibrated reading accurately represents the actual steering angle. However, these existing calibration methods require manual alignment of the vehicle's front end, which is prone to significant operational errors, thus preventing the automatic calibration of the steering angle sensor. Summary of the Invention

[0004] In view of this, this application provides a calibration method, apparatus, device and storage medium for a steering angle sensor, which realizes automatic calibration and error detection of the steering angle sensor based on a laser positioning device installed on the target vehicle, without the need for manual intervention, which is beneficial to improving the accuracy of automatic navigation control of the target vehicle and the safety of vehicle operation.

[0005] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings.

[0006] In a first aspect, embodiments of this application provide a calibration method for a steering angle sensor, the calibration method comprising:

[0007] The laser positioning device installed on the target vehicle collects laser positioning data at various points on the target vehicle, and determines the first position information corresponding to the centerline of the target front vehicle body component in the first coordinate system based on the collected laser positioning data; wherein, the laser positioning device is installed at any central position on the top of the rear vehicle body of the target vehicle, the target front vehicle body component represents any centrally symmetrical front vehicle body component on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data.

[0008] In the second coordinate system corresponding to the steering axis of the vehicle body equipped with the steering angle sensor, determine the second position information of the centerline of the target front body component in the second coordinate system;

[0009] Based on the coordinate transformation matrix between the first coordinate system and the second coordinate system, the first position information or the second position information is transformed to obtain first position information and second position information under the same target coordinate system; wherein, the target coordinate system represents the first coordinate system or the second coordinate system;

[0010] By adjusting the target parameters in the coordinate transformation matrix, the positional deviation between the first position information and the second position information in the target coordinate system is adjusted. When the adjusted positional deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current time. The target parameters represent the assumed result of the steering angle.

[0011] Secondly, embodiments of this application provide a calibration device for a steering angle sensor, the calibration device comprising:

[0012] The first positioning module is used to collect laser positioning data of various points on the target vehicle through a laser positioning device installed on the target vehicle, and determine the first position information corresponding to the center line of the target front vehicle body component in a first coordinate system based on the collected laser positioning data; wherein, the laser positioning device is installed at any central position on the top of the rear vehicle body of the target vehicle, the target front vehicle body component represents any centrally symmetrical front vehicle body component on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data.

[0013] The second positioning module is used to determine the second position information of the centerline of the target front body component in the second coordinate system corresponding to the steering axis of the vehicle body on which the steering angle sensor is installed;

[0014] The coordinate transformation module is used to perform coordinate transformation on the first position information or the second position information according to the coordinate transformation matrix between the first coordinate system and the second coordinate system, so as to obtain the first position information and the second position information under the same target coordinate system; wherein, the target coordinate system represents the first coordinate system or the second coordinate system;

[0015] An angle calibration module is used to adjust the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, and to calibrate the reading of the steering angle sensor according to the target parameters at the current time when the adjusted position deviation is less than or equal to a preset threshold; wherein, the target parameters represent the assumed result of the steering angle.

[0016] Thirdly, embodiments of this application provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described calibration method for a steering angle sensor.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described calibration method for a steering angle sensor.

[0018] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0019] This application provides a calibration method, apparatus, device, and storage medium for a steering angle sensor. It uses a laser positioning device installed on a target vehicle to collect laser positioning data from various points on the vehicle. Based on the collected laser positioning data, it determines the first position information corresponding to the centerline of the target front vehicle body component in a first coordinate system. Then, in a second coordinate system corresponding to the steering axis of the vehicle body where the steering angle sensor is installed, it determines the second position information corresponding to the centerline of the target front vehicle body component in the second coordinate system. Using a coordinate transformation matrix between the first and second coordinate systems, it performs coordinate transformation on either the first or second position information to obtain the first and second position information in the same target coordinate system. By adjusting the target parameters in the coordinate transformation matrix, it adjusts the positional deviation between the first and second position information in the target coordinate system. When the adjusted positional deviation is less than or equal to a preset threshold, it calibrates the reading of the steering angle sensor based on the target parameters at the current moment. Thus, this application achieves automatic calibration and error detection of the steering angle sensor based on a laser positioning device installed on the target vehicle, without manual intervention, which is beneficial for improving the accuracy of automatic navigation control and the safety of vehicle operation. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic flowchart of a calibration method for a steering angle sensor provided in an embodiment of this application is shown.

[0022] Figure 2a A side view of a target vehicle provided in an embodiment of this application is shown;

[0023] Figure 2b A top view of a target vehicle provided in an embodiment of this application is shown;

[0024] Figure 3 This illustration shows a comparison diagram of a target front vehicle body component in laser positioning data and the actual vehicle body structure, according to an embodiment of this application.

[0025] Figure 4 A flowchart illustrating a method for calibrating readings of a steering angle sensor according to an embodiment of this application is shown.

[0026] Figure 5A schematic diagram of the structure of a calibration device for a steering angle sensor provided in an embodiment of this application is shown;

[0027] Figure 6 This is a schematic diagram of the structure of an electronic device 600 provided in an embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0029] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0030] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0031] Currently, existing calibration methods typically require operators to manually align the vehicle's front end as straight as possible. Based on the fact that the steering angle sensor reading when the vehicle is straight corresponds to a zero actual steering angle, and that there is a linear relationship between the steering angle sensor reading and the actual steering angle, a linear relationship parameter can be calculated. This parameter is then used to calibrate the steering angle sensor reading, ensuring that the calibrated reading accurately represents the actual steering angle. However, these existing calibration methods require manual alignment of the vehicle's front end, which is prone to significant operational errors, thus preventing the automatic calibration of the steering angle sensor.

[0032] Based on this, embodiments of this application provide a calibration method, apparatus, device, and storage medium for a steering angle sensor. The automatic calibration and error detection of the steering angle sensor are achieved based on a laser positioning device installed on the target vehicle, without the need for manual intervention, which is beneficial to improving the accuracy of automatic navigation control of the target vehicle and the safety of vehicle operation.

[0033] In one embodiment of this application, a method for calibrating a steering angle sensor can be run in the vehicle control unit of a target vehicle, thereby enabling automated control of the target vehicle through the vehicle control unit and controlling the target vehicle to automatically calibrate the steering angle sensor.

[0034] To facilitate understanding of the embodiments of this application, a detailed description of an interactive method, apparatus, device, and storage medium in a game provided by the embodiments of this application is given below.

[0035] Reference Figure 1 As shown, Figure 1 The diagram illustrates a flowchart of a calibration method for a steering angle sensor provided in an embodiment of this application, wherein the calibration method includes steps S101-S104; specifically:

[0036] S101, using the laser positioning device installed on the target vehicle, laser positioning data of each point on the target vehicle is collected, and based on the collected laser positioning data, the first position information corresponding to the center line of the target front vehicle body component in the first coordinate system is determined.

[0037] S102, in the second coordinate system corresponding to the steering axis of the vehicle body equipped with the steering angle sensor, determine the second position information of the center line of the target front body component in the second coordinate system.

[0038] S103, according to the coordinate transformation matrix between the first coordinate system and the second coordinate system, perform coordinate transformation on the first position information or the second position information to obtain the first position information and the second position information under the same target coordinate system.

[0039] S104, by adjusting the target parameters in the coordinate transformation matrix, the positional deviation between the first position information and the second position information in the target coordinate system is adjusted, and when the adjusted positional deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current time.

[0040] The steering angle sensor calibration method provided in this application involves using a laser positioning device installed on the target vehicle to collect laser positioning data at various points on the target vehicle. Based on the collected laser positioning data, the method determines the first position information corresponding to the centerline of the target front vehicle body component in a first coordinate system. Then, in a second coordinate system corresponding to the steering axis of the vehicle body where the steering angle sensor is installed, the method determines the second position information corresponding to the centerline of the target front vehicle body component in the second coordinate system. Using a coordinate transformation matrix between the first and second coordinate systems, the method transforms the first or second position information to obtain the first and second position information in the same target coordinate system. By adjusting the target parameters in the coordinate transformation matrix, the method adjusts the positional deviation between the first and second position information in the target coordinate system. When the adjusted positional deviation is less than or equal to a preset threshold, the method calibrates the reading of the steering angle sensor based on the target parameters at the current moment. Thus, this application achieves automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual intervention, which is beneficial for improving the accuracy of automatic navigation control and the safety of vehicle operation.

[0041] The following is an exemplary description of each step in the calibration method for the steering angle sensor provided in the embodiments of this application:

[0042] S101, using the laser positioning device installed on the target vehicle, laser positioning data of each point on the target vehicle is collected, and based on the collected laser positioning data, the first position information corresponding to the center line of the target front vehicle body component in the first coordinate system is determined.

[0043] Here, the target vehicle can be a loader, an articulated vehicle (such as an articulated truck, a scraper, etc.), or other vehicles that require steering angle calibration. This application embodiment does not limit the specific vehicle type to which the target vehicle belongs.

[0044] Here, the laser positioning device mentioned above can be a three-dimensional lidar or a laser positioning instrument, etc., which can be used to collect laser positioning data of various points on the target vehicle. This application embodiment does not limit the specific device type to which the laser positioning device belongs.

[0045] Specifically, the aforementioned laser positioning device can be installed at any central position on the top of the rear body of the target vehicle. The front and rear bodies of the target vehicle can be divided by the vehicle's steering axis, which is equipped with a steering angle sensor, as the dividing line. The part of the target vehicle located before the steering axis is designated as the front body, and the part of the target vehicle located after the steering axis is designated as the rear body.

[0046] Here, the aforementioned target front body component represents any centrally symmetrical front body component on the target vehicle. That is, the aforementioned target front body component can be a vehicle component located in the front body portion of the target vehicle and having a centrally symmetrical structure. For example, if the target vehicle is a loader, then the aforementioned target front body component can be the bucket on the loader.

[0047] Specifically, by collecting laser positioning data (i.e., laser point cloud information) at various points on the target vehicle through the aforementioned laser positioning device, the laser positioning data obtained is located in the first coordinate system L. That is, the first coordinate system L represents the coordinate system corresponding to the aforementioned laser positioning data; wherein, the first coordinate system L can be a coordinate system established with the installation position of the aforementioned laser positioning device as the origin.

[0048] For example, let's take a scenario where the target vehicle is a loader and the target front body component is the bucket on the loader. Figure 2a The illustration shows a side view of a target vehicle according to an embodiment of this application. Figure 2b This application shows a top view of a target vehicle according to an embodiment of the present application, wherein, Figure 2a as well as Figure 2b The target vehicle (i.e., the loader) shown is marked with the relevant parameters in the first coordinate system L mentioned above, specifically:

[0049] The vehicle's steering axle is a component connecting the steering wheel and steering gear in the target vehicle. Its main function is to transmit the steering torque applied to the steering wheel to the steering gear, controlling the target vehicle's steering. The projection point of the vehicle's steering axle on the ground is denoted as point R. At this point, the aforementioned laser positioning device can be installed at the central position, point L, on the top of the loader. An origin is established using point L as the installation point of the laser positioning device. Figure 2a as well as Figure 2b The first coordinate system L is shown.

[0050] Specifically, with Figure 2b Taking the target front vehicle body component (bucket) as an example, the left and right edge positions of the target front vehicle body component can be obtained from the collected laser positioning data. Figure 2bThe coordinates of points A and B in the first coordinate system are given. Since the target front vehicle body component has a centrally symmetrical structure, the coordinates of the center point T of the target front vehicle body component in the first coordinate system can be calculated based on the coordinates of the left and right edges of the target front vehicle body component in the first coordinate system (the center point T of the target front vehicle body component is equivalent to the midpoint of line segment AB). The centerline of the target front vehicle body component is perpendicular to the straight line where the left and right edges are located (i.e., perpendicular to the straight line where line segment AB is located). That is, the slope of the centerline of the target front vehicle body component can be determined based on the slope of the straight line where the left and right edges are located. Therefore, based on the slope of the centerline of the target front vehicle body component and the coordinates of a point on the centerline of the target front vehicle body component (i.e., the coordinates of the center point T of the target front vehicle body component in the first coordinate system), the first position information of the centerline of the target front vehicle body component (i.e., the centerline passes through point T and is perpendicular to the straight line where line segment AB is located) in the first coordinate system can be calculated.

[0051] S102, in the second coordinate system corresponding to the steering axis of the vehicle body equipped with the steering angle sensor, determine the second position information of the center line of the target front body component in the second coordinate system.

[0052] Here, the steering angle sensor is installed on the steering shaft of the target vehicle to sense the angle between the front and rear of the target vehicle. In other words, the reading of the steering angle sensor is used to represent the angle between the front and rear of the target vehicle (i.e., the steering angle).

[0053] Specifically, refer to Figure 2a as well as Figure 2b As shown, the origin is R, the projection point of the vehicle steering axis on the ground; the z-axis is the direction of the vehicle steering axis; the x-axis is the direction parallel to the horizontal distance mx from the root of the boom M; and the y-axis is the direction perpendicular to the horizontal distance mx from the root of the boom M. A vehicle steering axis coordinate system is established and denoted as R (i.e., the second coordinate system mentioned above). The root of the boom M refers to the connection between the boom and the vehicle body of the target vehicle (i.e., the root position of the boom on the side away from the bucket). The horizontal distance between the first coordinate system L and the second coordinate system R is lx, the vertical distance is lz, the width of the target front vehicle body component (i.e., the bucket width) is wk, and the steering angle is denoted as ω.

[0054] Specifically, with Figure 2b Taking the target front vehicle body component (bucket) as an example, under the aforementioned second coordinate system R, the left and right edge positions of the target front vehicle body component can be obtained respectively (i.e., Figure 2bThe coordinates of points A and B in the second coordinate system are given. Since the target front vehicle body component has a centrally symmetrical structure, the coordinates of the center point T of the target front vehicle body component in the second coordinate system can be calculated based on the coordinates of the left and right edges of the target front vehicle body component in the second coordinate system (the center point T of the target front vehicle body component is equivalent to the midpoint of line segment AB). The centerline of the target front vehicle body component is perpendicular to the straight line where the left and right edges are located (i.e., perpendicular to the straight line where line segment AB is located). That is, the slope of the centerline of the target front vehicle body component can be determined based on the slope of the straight line where the left and right edges are located. Therefore, based on the slope of the centerline of the target front vehicle body component and the coordinates of a point on the centerline of the target front vehicle body component (i.e., the coordinates of the center point T of the target front vehicle body component in the second coordinate system), the second position information of the centerline of the target front vehicle body component (i.e., the centerline passes through point T and is perpendicular to the straight line where line segment AB is located) in the second coordinate system can be calculated.

[0055] S103, according to the coordinate transformation matrix between the first coordinate system and the second coordinate system, perform coordinate transformation on the first position information or the second position information to obtain the first position information and the second position information under the same target coordinate system.

[0056] Here, based on the above steps S101-S102, it can be seen that the first coordinate system and the second coordinate system belong to different coordinate systems. Therefore, in order to measure the deviation between the position information of the centerline of the target front vehicle body component in different coordinate systems (i.e., the first position information and the second position information), it is necessary to transform the first position information and the second position information to the same target coordinate system for comparison.

[0057] Here, the target coordinate system refers to either the first coordinate system or the second coordinate system. That is, when executing step S103, the second position information can be converted from the second coordinate system to the first coordinate system; or the first position information can be converted from the first coordinate system to the second coordinate system. This embodiment of the application does not limit this in any way.

[0058] Specifically, in Figure 2a as well as Figure 2b Based on the first coordinate system L and the second coordinate system R shown, the 4x4 spatial coordinate transformation matrix composed of the displacement vector (x, y, z) and the three-axis Euler angles (roll, pitch, yaw) is defined as T(x, y, z, roll, pitch, yaw); where, the coordinate transformation matrix between the first coordinate system L and the second coordinate system R is... It can be represented by the following formula 1:

[0059]

[0060] Among them, such as Figure 2a as well as Figure 2b As shown, the horizontal distance between the first coordinate system L and the second coordinate system R is lx, the vertical distance is lz, and ω represents the turning angle (i.e., the angle between the front and rear of the target vehicle).

[0061] For example, taking the position coordinates of the center point T of the target front vehicle body component in the first coordinate system L as T1, the coordinate transformation matrix described above can be used to illustrate this. calculate The value of T1 can be used to obtain the coordinate value of the position coordinate T1 in the second coordinate system R; where T1 T This represents the transpose of position coordinate T1.

[0062] For example, taking the position coordinates of the center point T of the target front vehicle body component in the second coordinate system R as T1, the coordinate transformation matrix described above can be used to illustrate this. calculate The value of T2 can be used to obtain the coordinates of position T2 in the first coordinate system L; where T2 T This represents the transpose of position coordinate T2.

[0063] S104, by adjusting the target parameters in the coordinate transformation matrix, the positional deviation between the first position information and the second position information in the target coordinate system is adjusted, and when the adjusted positional deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current time.

[0064] Here, the aforementioned target parameters characterize the assumed result of the steering angle ω; that is, the aforementioned target parameters are equivalent to the assumed value of the steering angle ω, where, due to the coordinate transformation matrix... The system contains only one unknown variable, the steering angle ω. Therefore, by changing the assumed value of the steering angle ω (i.e., adjusting the target parameters), the value of the first position information in the target coordinate system can be changed (equivalent to changing the coordinate transformation matrix at this time). The value of the first position information (transformed from the first coordinate system to the second coordinate system) or the second position information in the target coordinate system (equivalent to being obtained through the coordinate transformation matrix at this time) is taken. The second position information is transformed from the second coordinate system to the first coordinate system, thereby indirectly changing the positional deviation between the first position information and the second position information in the target coordinate system.

[0065] Specifically, when the adjusted position deviation is less than or equal to a preset threshold, the assumed value of the steering angle ω at the current moment (i.e., the target parameter at the current moment) can be considered equal to the actual steering angle θ of the target vehicle at the current moment. When calibrating the steering angle sensor, based on the linear relationship between the actual steering angle θ at the current moment and the reading α of the steering angle sensor at the current moment, the linear relationship parameter between the reading α of the steering angle sensor and the actual steering angle θ is calculated, thus completing the calibration of the steering angle sensor. After the calibration of the steering angle sensor is completed, the calibrated steering angle sensor can take the reading α of the steering angle sensor as input and output the calibration result of the reading α of the steering angle sensor as the actual steering angle θ (equivalent to the actual steering angle reading output by the calibrated steering angle sensor) based on the linear relationship parameter calculated above.

[0066] It should be noted that the above-mentioned preset threshold can be 0 or a positive number that is close to 0 (e.g., 0.1). The specific value of the above-mentioned preset threshold can be adjusted according to the actual calibration requirements, and this application embodiment does not limit it in any way.

[0067] Specifically, the first position information in the target coordinate system and the second position information in the target coordinate system can respectively represent the center line of the target front vehicle body component detected in the laser positioning data (determined according to the first position information) and the center line of the target front vehicle body component detected in the actual vehicle body (determined according to the second position information) in the same target coordinate system. Therefore, as an optional embodiment, the difference between the first position information in the target coordinate system and the second position information in the target coordinate system can be directly calculated as the aforementioned position deviation. That is, the position deviation at this time can be quantitatively expressed as the deviation between the center line of the target front vehicle body component detected in the laser positioning data and the center line of the target front vehicle body component detected in the actual vehicle body.

[0068] In addition, as another optional embodiment, the method shown in steps a1-a3 can be followed to calculate the projection error of the positioning laser of the laser positioning device on the front vehicle body component of the target, based on the first position information and the second position information in the target coordinate system, as the aforementioned position deviation. Specifically:

[0069] Step a1: Based on the first position information in the target coordinate system, determine the left edge position coordinates and right edge position coordinates of the target front vehicle body component in the target coordinate system.

[0070] Here, taking the second coordinate system corresponding to the vehicle's steering axis as an example, and referring to the coordinate transformation method shown in step S103 above, it can be seen that, based on the adjusted target parameters (i.e., the assumed value of the steering angle ω), the coordinate transformation matrix can be used to achieve the desired result. The left and right edge position coordinates of the target front vehicle body component are transformed from the first coordinate system corresponding to the laser positioning data to the second coordinate system corresponding to the vehicle body steering axis, so as to obtain the left and right edge position coordinates of the target front vehicle body component in the second coordinate system (i.e. the target coordinate system at this time).

[0071] It should be noted that if the target coordinate system is the first coordinate system corresponding to the laser positioning data, then the left and right edge position coordinates of the target front vehicle body component in the first coordinate system can be directly obtained as the left and right edge position coordinates of the target front vehicle body component in the target coordinate system, respectively.

[0072] To illustrate this example, let's take the case where the target front body component is a bucket. Figure 3 This illustration shows a comparison diagram of a target front vehicle body component in laser positioning data and the actual vehicle body structure, as provided in an embodiment of this application. Figure 3 As shown, the left edge position of the target front vehicle body component (i.e., the bucket) in the laser positioning data (corresponding to the first coordinate system) is denoted as point A, and the right edge position is denoted as point B. The center point of the target front vehicle body component in the actual vehicle structure (corresponding to the second coordinate system) is denoted as point T. If the target coordinate system is the second coordinate system corresponding to the vehicle body steering axis, then based on the adjusted target parameters (i.e., the assumed value of the steering angle ω), the coordinate transformation matrix can be used to... Transform the coordinates of point A on the left edge and point B on the right edge of the target front vehicle body component from the first coordinate system to the second coordinate system to obtain the position coordinates of point A on the left edge and point B on the right edge in the second coordinate system (i.e., the target coordinate system at this time).

[0073] Step a2: From the second position information in the target coordinate system, determine the center position coordinates of the center point of the target front vehicle body component in the target coordinate system, and determine the straight line passing through the center position coordinates and perpendicular to the target front vehicle body component as the target center line.

[0074] Here, since the second position information in the target coordinate system refers to the position information of the center line of the target front vehicle body component detected in the actual vehicle body (determined according to the second position information) in the target coordinate system, the center position coordinates of the center point in the real vehicle structure (corresponding to the second coordinate system) (that is, the center point of the target front vehicle body component) in the target coordinate system can be determined from the second position information in the target coordinate system. Furthermore, the straight line passing through the center position coordinates and perpendicular to the target front vehicle body component can also be determined as the target center line.

[0075] Specifically, taking the example where the target coordinate system is the second coordinate system, such as... Figure 3 As shown, the center point of the target front vehicle body component in the actual vehicle structure (corresponding to the second coordinate system) is denoted as point T. The straight line from the turning point R to the center point T of the target front vehicle body component can represent the target centerline that passes through the center point T of the target front vehicle body component and is perpendicular to the target front vehicle body component.

[0076] Step a3: Calculate the difference between the first line segment and the second line segment based on the intersection point between the target center line and the target line segment, and use the absolute value of the difference as the position deviation.

[0077] Here, the target line segment represents the line segment between the aforementioned left edge position coordinates and the aforementioned right edge position coordinates, such as... Figure 3 As shown, the target line segment is equivalent to the line segment AB between the coordinates of point A on the left edge and point B on the right edge of the target front vehicle body component.

[0078] Here, the first line segment represents the line segment between the aforementioned left edge position coordinates and the aforementioned intersection point, such as... Figure 3 As shown, the intersection point between the target centerline RT and the target line segment AB is denoted as point C. At this time, the first line segment mentioned above is the line segment AC between the coordinates of the left edge position point A and the intersection point C.

[0079] Here, the second line segment represents the line segment between the aforementioned right edge position coordinates and the aforementioned intersection point, such as... Figure 3 As shown, the intersection point between the target centerline RT and the target line segment AB is denoted as point C. At this time, the second line segment mentioned above is the line segment BC between the coordinates of the right edge position point B and the intersection point C.

[0080] Specifically, such as Figure 3 As shown, the difference between line segment AC (i.e., the first line segment) and line segment BC (i.e., the second line segment) is the projection error e (i.e., e = AC - BC) of the positioning laser of the laser positioning device on the front vehicle body component of the target. At this time, the absolute value of the projection error e can be used as the above-mentioned position deviation to facilitate the determination of the relationship between the position deviation and the preset threshold.

[0081] Based on the positional deviation determined according to steps a1-a3 above, depending on the different values ​​of the target parameter (i.e., the assumed value of the steering angle ω), two different situations may occur during the actual adjustment process: there may be an intersection between the target centerline and the target line segment, or there may be no intersection. For each of these different situations, the target parameter can be adjusted in different ways as shown in steps b1-b2 below (i.e., determining how to select the target parameter at the next moment according to different methods). Specifically:

[0082] Step b1: When there is no intersection between the target centerline and the target line segment, adjust the target centerline and the target line segment by coarsely adjusting the target parameters until there is an intersection between the adjusted target centerline and the target line segment.

[0083] Here, when there is no intersection between the target centerline and the target line segment, it means that the positioning laser of the laser positioning device does not project onto the front vehicle body component of the target. Therefore, the target parameters need to be adjusted significantly in order to make the position deviation (i.e., the absolute value of the projection error e) calculated according to the adjusted target parameters less than or equal to the preset threshold.

[0084] Specifically, the target parameters can be adjusted sequentially according to a certain adjustment step size. This means that each adjustment is based on the current target parameters, increasing or decreasing the adjustment step size to obtain the adjusted target parameters. Based on this, if there is no intersection between the target centerline and the target line segment, the target parameters can be significantly increased or decreased according to the corresponding coarse-grained adjustment step size (i.e., by adjusting the target parameters in a coarse-grained manner) until the positioning laser of the laser positioning device projects onto the target front vehicle body component (i.e., there is an intersection between the adjusted target centerline and the target line segment). Based on the projection error e, the above-mentioned position deviation can be calculated, and then the target parameters are adjusted slightly (i.e., the adjustment step size is reduced) to improve the efficiency of adjusting the target parameters.

[0085] Exemplary illustrations, such as Figure 3 As shown, when the target line segment AB is located to the right of the target centerline RT, the target parameter can be reduced according to the adjustment step size corresponding to the coarse granularity (equivalent to the assumed value of the steering angle ω being too far to the left, requiring a reduction in the assumed value of the steering angle ω); when the target line segment AB is located to the left of the target centerline RT, the target parameter can be increased according to the adjustment step size corresponding to the coarse granularity (equivalent to the assumed value of the steering angle ω being too far to the right, requiring an increase in the assumed value of the steering angle ω).

[0086] Step b2: When there is an intersection between the target centerline and the target line segment, adjust the target centerline and the target line segment by fine-grained adjustment of the target parameters until the adjusted position deviation is less than or equal to the preset threshold.

[0087] Here, when there is an intersection between the target centerline and the target line segment, it means that the positioning laser of the laser positioning device projects onto the front vehicle body component of the target. Therefore, the target parameters need to be adjusted slightly in order to accurately ensure that the position deviation (i.e., the absolute value of the projection error e) calculated according to the adjusted target parameters is less than or equal to the preset threshold.

[0088] Exemplary illustrations, such as Figure 3 As shown, when the projection error e (i.e., e = AC - BC, and e is equivalent to the difference in step a3) is negative (i.e., e is less than 0), the target parameter can be reduced according to the adjustment step size corresponding to the fine granularity; when the projection error e (i.e., the difference in step a3) is positive (i.e., e is greater than 0), the target parameter can be increased according to the adjustment step size corresponding to the fine granularity.

[0089] It should be noted that, in the embodiments of this application, it is only necessary to ensure that the adjustment step size corresponding to the fine granularity is smaller than the adjustment step size corresponding to the coarse granularity. The embodiments of this application do not impose any limitations on the specific adjustment step size corresponding to the fine granularity and the specific adjustment step size corresponding to the coarse granularity.

[0090] Specifically, when performing the fine-grained adjustment method shown in step b2, as an optional embodiment, the vehicle control unit of the target vehicle may also adjust the target parameter in response to the change in the position deviation, according to a target adjustment step size that matches the changed position deviation.

[0091] Here, the position deviation and the target adjustment step size are positively correlated. That is, when adjusting the target parameter (i.e., the assumed value of the steering angle ω) in a fine-grained manner, the adjustment step size of the target parameter (i.e., the adjustment step size corresponding to the fine-grained adjustment) can be gradually reduced as the absolute value of the projection error e (i.e., the position deviation) decreases. This makes the target adjustment step size matched with the smaller position deviation value smaller, thereby achieving the effect of fine-tuning the target parameter.

[0092] Based on the target parameter adjustment methods shown in the above steps, and combined with the relevant explanation in step S104, it can be understood that when the adjusted position deviation is less than or equal to the preset threshold, the assumed value of the steering angle ω at the current moment (i.e., the target parameter at the current moment) can be considered equal to the actual steering angle θ of the target vehicle at the current moment, and the actual steering angle θ at the current moment and the reading α of the steering angle sensor at the current moment conform to a linear relationship. Based on this, as an optional embodiment, Figure 4 This document illustrates a flowchart of a method for calibrating readings from a steering angle sensor, as provided in an embodiment of this application. Figure 4 As shown, when performing step S104, the method includes steps S401-S402, specifically:

[0093] S401, acquire the target parameters and steering angle sensor readings at multiple target times respectively, and obtain multiple sets of matched target parameters and steering angle sensor readings.

[0094] Here, the target time represents the moment when the adjusted position deviation is less than or equal to the preset threshold; that is, only the assumed value of the steering angle ω at the target time (i.e., the target parameter) is the actual steering angle θ that has a linear relationship with the reading α of the steering angle sensor.

[0095] Specifically, as an optional embodiment, without changing the arm posture of the target vehicle, the target parameters and steering angle sensor readings at multiple target times can be obtained directly by repeatedly adjusting the target parameters. Here, the target parameters and steering angle sensor readings at each target time represent a set of matched target parameters and steering angle sensor readings.

[0096] Specifically, as another optional embodiment, the arm posture of the target vehicle can be changed multiple times. Under each arm posture, the target parameters and the reading of the steering angle sensor at a target time can be obtained by adjusting the above-mentioned target parameters, thereby obtaining multiple sets of matched target parameters and steering angle sensor readings corresponding to multiple different arm postures.

[0097] S402, using the target parameter in each group as the dependent variable and the reading of the steering angle sensor in each group as the independent variable, and based on the linear relationship between the matched target parameter and the reading of the steering angle sensor in each group, determine the calibration parameters for calibrating the reading of the steering angle sensor.

[0098] Specifically, the linear relationship between the actual steering angle θ and the reading α of the steering angle sensor is shown in Formula 2 below:

[0099] θ = k × α + m (Formula 2)

[0100] Where k and m are the calibration parameters that need to be calibrated.

[0101] Here, each set of matched target parameters (i.e., the assumed value of the steering angle ω) and the reading of the steering angle sensor correspond to a set of matched actual steering angle θ and the reading α of the steering angle sensor in Formula 2 above. Therefore, based on multiple sets of matched target parameters and the readings of the steering angle sensor, the optimal solution of the above calibration parameters k and m can be calculated using the least squares method.

[0102] Based on the calibration method for the steering angle sensor provided in this application embodiment, a laser positioning device installed on the target vehicle collects laser positioning data at various points on the target vehicle. Based on the collected laser positioning data, the first position information corresponding to the centerline of the target front vehicle body component in the first coordinate system is determined. In the second coordinate system corresponding to the steering axis of the vehicle body where the steering angle sensor is installed, the second position information corresponding to the centerline of the target front vehicle body component in the second coordinate system is determined. According to the coordinate transformation matrix between the first and second coordinate systems, the first or second position information is transformed to obtain the first and second position information in the same target coordinate system. By adjusting the target parameters in the coordinate transformation matrix, the positional deviation between the first and second position information in the target coordinate system is adjusted. When the adjusted positional deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current moment. Thus, this application achieves automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual intervention, which is beneficial for improving the accuracy of automatic navigation control of the target vehicle and the safety of vehicle operation.

[0103] Based on the same inventive concept, this application also provides a calibration device for a steering angle sensor corresponding to the above-mentioned calibration method for a steering angle sensor. Since the principle of the calibration device for a steering angle sensor in this application is similar to that of the above-mentioned calibration method for a steering angle sensor in this application, the implementation of the calibration device for a steering angle sensor can refer to the implementation of the above-mentioned calibration method for a steering angle sensor, and the repeated parts will not be described again.

[0104] Reference Figure 5 As shown, Figure 5 A schematic diagram of a calibration device for a steering angle sensor provided in an embodiment of this application is shown, wherein the calibration device for the steering angle sensor includes:

[0105] The first positioning module 501 is used to collect laser positioning data of various points on the target vehicle through a laser positioning device installed on the target vehicle, and determine the first position information corresponding to the center line of the target front vehicle body component in a first coordinate system based on the collected laser positioning data; wherein, the laser positioning device is installed at any central position on the top of the rear vehicle body of the target vehicle, the target front vehicle body component represents any centrally symmetrical front vehicle body component on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data.

[0106] The second positioning module 502 is used to determine the second position information of the center line of the target front body component in the second coordinate system corresponding to the steering axis of the vehicle body on which the steering angle sensor is installed;

[0107] The coordinate transformation module 503 is used to perform coordinate transformation on the first position information or the second position information according to the coordinate transformation matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information under the same target coordinate system; wherein, the target coordinate system represents the first coordinate system or the second coordinate system;

[0108] Angle calibration module 504 is used to adjust the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, and to calibrate the reading of the steering angle sensor according to the target parameters at the current time when the adjusted position deviation is less than or equal to a preset threshold; wherein, the target parameters represent the assumed result of the steering angle.

[0109] In an optional implementation, the angle calibration module 504 is used to determine the positional deviation between the first position information and the second position information in the target coordinate system by the following method:

[0110] Based on the first position information in the target coordinate system, determine the left edge position coordinates and right edge position coordinates of the target front vehicle body component in the target coordinate system, respectively.

[0111] From the second position information in the target coordinate system, determine the center position coordinates of the center point of the target front vehicle body component in the target coordinate system, and determine the straight line that passes through the center position coordinates and is perpendicular to the target front vehicle body component as the target center line;

[0112] Based on the intersection point between the target centerline and the target line segment, the difference between the first line segment and the second line segment is calculated, and the absolute value of the difference is taken as the position deviation; wherein, the target line segment represents the line segment between the left edge position coordinate and the right edge position coordinate, the first line segment represents the line segment between the left edge position coordinate and the intersection point, and the second line segment represents the line segment between the right edge position coordinate and the intersection point.

[0113] In an optional implementation, when adjusting the positional deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, the angle calibration module 504 is used to:

[0114] When there is no intersection between the target centerline and the target line segment, the target centerline and the target line segment are adjusted by coarse-grained adjustment of the target parameters until there is an intersection between the adjusted target centerline and the target line segment.

[0115] or,

[0116] When there is an intersection between the target centerline and the target line segment, the target centerline and the target line segment are adjusted by fine-grained adjustment of the target parameters until the adjusted positional deviation is less than or equal to the preset threshold.

[0117] In an optional implementation, when adjusting the target centerline and the target line segment by coarse-grained adjustment of the target parameters, the angle calibration module 504 is used to:

[0118] When the target line segment is located to the right of the target center line, the target parameter is reduced according to the adjustment step size corresponding to the coarseness;

[0119] or,

[0120] When the target line segment is located to the left of the target center line, the target parameter is increased according to the adjustment step size corresponding to the coarseness.

[0121] In an optional implementation, when adjusting the target centerline and the target line segment by fine-grained adjustment of the target parameters, the angle calibration module 504 is used to:

[0122] When the difference is negative, the target parameter is reduced according to the adjustment step size corresponding to the fine granularity.

[0123] or,

[0124] When the difference is positive, the target parameter is increased according to the adjustment step size corresponding to the fine granularity.

[0125] In an optional implementation, when adjusting the target centerline and the target line segment by fine-grained adjustment of the target parameters, the angle calibration module 504 is further configured to:

[0126] In response to the change in position deviation, the target parameter is adjusted according to a target adjustment step size that matches the changed position deviation; wherein the position deviation and the target adjustment step size are positively correlated.

[0127] In one optional implementation, when calibrating the readings of the steering angle sensor based on the target parameters at the current moment, the angle calibration module 504 is used to:

[0128] The target parameters and steering angle sensor readings are acquired at multiple target times to obtain multiple sets of matched target parameters and steering angle sensor readings; wherein, the target time represents the time when the adjusted position deviation is less than or equal to the preset threshold.

[0129] Using the target parameter in each group as the dependent variable and the reading of the steering angle sensor in each group as the independent variable, calibration parameters for calibrating the reading of the steering angle sensor are determined based on the linear relationship between the matched target parameter and the reading of the steering angle sensor in each group.

[0130] Based on the interactive device in the game provided in this application embodiment, laser positioning data of various points on the target vehicle is collected by a laser positioning device installed on the target vehicle. Based on the collected laser positioning data, the first position information corresponding to the centerline of the target front vehicle body component in the first coordinate system is determined. In the second coordinate system corresponding to the steering axis of the vehicle body equipped with a steering angle sensor, the second position information corresponding to the centerline of the target front vehicle body component in the second coordinate system is determined. According to the coordinate transformation matrix between the first and second coordinate systems, the first or second position information is transformed to obtain the first and second position information in the same target coordinate system. By adjusting the target parameters in the coordinate transformation matrix, the positional deviation between the first and second position information in the target coordinate system is adjusted. When the adjusted positional deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current moment. Thus, this application realizes automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual intervention, which is beneficial to improving the accuracy of automatic navigation control of the target vehicle and the safety of vehicle operation.

[0131] Based on the same inventive concept, this application also provides an electronic device corresponding to the above-mentioned steering angle sensor calibration method. Since the principle of solving the problem by the electronic device in the embodiments of this application is similar to that of the above-mentioned steering angle sensor calibration method in the embodiments of this application, the implementation of the electronic device can refer to the implementation of the above-mentioned steering angle sensor calibration method, and the repeated parts will not be described again.

[0132] Figure 6 A schematic diagram of an electronic device 600 provided in this application embodiment includes: a processor 601, a memory 602, and a bus 603. The memory 602 stores machine-readable instructions executable by the processor 601. When the electronic device runs a calibration method for a steering angle sensor as described in the embodiment, the processor 601 communicates with the memory 602 via the bus 603. The processor 601 executes the machine-readable instructions, specifically implementing the following steps:

[0133] The laser positioning device installed on the target vehicle collects laser positioning data at various points on the target vehicle, and determines the first position information corresponding to the centerline of the target front vehicle body component in the first coordinate system based on the collected laser positioning data; wherein, the laser positioning device is installed at any central position on the top of the rear vehicle body of the target vehicle, the target front vehicle body component represents any centrally symmetrical front vehicle body component on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data.

[0134] In the second coordinate system corresponding to the steering axis of the vehicle body equipped with the steering angle sensor, determine the second position information of the centerline of the target front body component in the second coordinate system;

[0135] Based on the coordinate transformation matrix between the first coordinate system and the second coordinate system, the first position information or the second position information is transformed to obtain first position information and second position information under the same target coordinate system; wherein, the target coordinate system represents the first coordinate system or the second coordinate system;

[0136] By adjusting the target parameters in the coordinate transformation matrix, the positional deviation between the first position information and the second position information in the target coordinate system is adjusted. When the adjusted positional deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current time. The target parameters represent the assumed result of the steering angle.

[0137] In an optional implementation, after obtaining the first position information and the second position information in the same target coordinate system, the processor 601 determines the positional deviation between the first position information and the second position information in the target coordinate system by the following method:

[0138] Based on the first position information in the target coordinate system, determine the left edge position coordinates and right edge position coordinates of the target front vehicle body component in the target coordinate system, respectively.

[0139] From the second position information in the target coordinate system, determine the center position coordinates of the center point of the target front vehicle body component in the target coordinate system, and determine the straight line that passes through the center position coordinates and is perpendicular to the target front vehicle body component as the target center line;

[0140] Based on the intersection point between the target centerline and the target line segment, the difference between the first line segment and the second line segment is calculated, and the absolute value of the difference is taken as the position deviation; wherein, the target line segment represents the line segment between the left edge position coordinate and the right edge position coordinate, the first line segment represents the line segment between the left edge position coordinate and the intersection point, and the second line segment represents the line segment between the right edge position coordinate and the intersection point.

[0141] In an optional implementation, when adjusting the positional deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, the processor 601 is configured to:

[0142] When there is no intersection between the target centerline and the target line segment, the target centerline and the target line segment are adjusted by coarse-grained adjustment of the target parameters until there is an intersection between the adjusted target centerline and the target line segment.

[0143] or,

[0144] When there is an intersection between the target centerline and the target line segment, the target centerline and the target line segment are adjusted by fine-grained adjustment of the target parameters until the adjusted positional deviation is less than or equal to the preset threshold.

[0145] In an optional implementation, when adjusting the target centerline and the target line segment by coarse-grained adjustment of the target parameters, the processor 601 is configured to:

[0146] When the target line segment is located to the right of the target center line, the target parameter is reduced according to the adjustment step size corresponding to the coarseness;

[0147] or,

[0148] When the target line segment is located to the left of the target center line, the target parameter is increased according to the adjustment step size corresponding to the coarseness.

[0149] In an optional implementation, when adjusting the target centerline and the target line segment by fine-grained adjustment of the target parameters, the processor 601 is configured to:

[0150] When the difference is negative, the target parameter is reduced according to the adjustment step size corresponding to the fine granularity.

[0151] or,

[0152] When the difference is positive, the target parameter is increased according to the adjustment step size corresponding to the fine granularity.

[0153] In an optional implementation, when adjusting the target centerline and the target line segment by fine-grained adjustment of the target parameters, the processor 601 is further configured to:

[0154] In response to the change in position deviation, the target parameter is adjusted according to a target adjustment step size that matches the changed position deviation; wherein the position deviation and the target adjustment step size are positively correlated.

[0155] In one alternative implementation, when calibrating the readings of the steering angle sensor based on the target parameters at the current moment, the processor 601 is configured to:

[0156] The target parameters and steering angle sensor readings are acquired at multiple target times to obtain multiple sets of matched target parameters and steering angle sensor readings; wherein, the target time represents the time when the adjusted position deviation is less than or equal to the preset threshold.

[0157] Using the target parameter in each group as the dependent variable and the reading of the steering angle sensor in each group as the independent variable, calibration parameters for calibrating the reading of the steering angle sensor are determined based on the linear relationship between the matched target parameter and the reading of the steering angle sensor in each group.

[0158] The electronic device provided in this application, through a laser positioning device installed on the target vehicle, collects laser positioning data at various points on the target vehicle. Based on the collected laser positioning data, it determines the first position information corresponding to the centerline of the target front vehicle body component in a first coordinate system. In a second coordinate system corresponding to the steering axis of the vehicle body where the steering angle sensor is installed, it determines the second position information corresponding to the centerline of the target front vehicle body component in the second coordinate system. According to the coordinate transformation matrix between the first and second coordinate systems, it performs coordinate transformation on the first or second position information to obtain the first and second position information in the same target coordinate system. By adjusting the target parameters in the coordinate transformation matrix, it adjusts the positional deviation between the first and second position information in the target coordinate system. When the adjusted positional deviation is less than or equal to a preset threshold, it calibrates the reading of the steering angle sensor based on the target parameters at the current moment. Thus, this application achieves automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual intervention, which is beneficial for improving the accuracy of automatic navigation control of the target vehicle and the safety of vehicle operation.

[0159] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing a computer program, which is executed by a processor, wherein the processor performs the following steps:

[0160] The laser positioning device installed on the target vehicle collects laser positioning data at various points on the target vehicle, and determines the first position information corresponding to the centerline of the target front vehicle body component in the first coordinate system based on the collected laser positioning data; wherein, the laser positioning device is installed at any central position on the top of the rear vehicle body of the target vehicle, the target front vehicle body component represents any centrally symmetrical front vehicle body component on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data.

[0161] In the second coordinate system corresponding to the steering axis of the vehicle body equipped with the steering angle sensor, determine the second position information of the centerline of the target front body component in the second coordinate system;

[0162] Based on the coordinate transformation matrix between the first coordinate system and the second coordinate system, the first position information or the second position information is transformed to obtain first position information and second position information under the same target coordinate system; wherein, the target coordinate system represents the first coordinate system or the second coordinate system;

[0163] By adjusting the target parameters in the coordinate transformation matrix, the positional deviation between the first position information and the second position information in the target coordinate system is adjusted. When the adjusted positional deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current time. The target parameters represent the assumed result of the steering angle.

[0164] In an optional implementation, after obtaining the first position information and the second position information in the same target coordinate system, the processor is configured to determine the positional deviation between the first position information and the second position information in the target coordinate system by the following method:

[0165] Based on the first position information in the target coordinate system, determine the left edge position coordinates and right edge position coordinates of the target front vehicle body component in the target coordinate system, respectively.

[0166] From the second position information in the target coordinate system, determine the center position coordinates of the center point of the target front vehicle body component in the target coordinate system, and determine the straight line that passes through the center position coordinates and is perpendicular to the target front vehicle body component as the target center line;

[0167] Based on the intersection point between the target centerline and the target line segment, the difference between the first line segment and the second line segment is calculated, and the absolute value of the difference is taken as the position deviation; wherein, the target line segment represents the line segment between the left edge position coordinate and the right edge position coordinate, the first line segment represents the line segment between the left edge position coordinate and the intersection point, and the second line segment represents the line segment between the right edge position coordinate and the intersection point.

[0168] In an optional implementation, when adjusting the positional deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, the processor is configured to:

[0169] When there is no intersection between the target centerline and the target line segment, the target centerline and the target line segment are adjusted by coarse-grained adjustment of the target parameters until there is an intersection between the adjusted target centerline and the target line segment.

[0170] or,

[0171] When there is an intersection between the target centerline and the target line segment, the target centerline and the target line segment are adjusted by fine-grained adjustment of the target parameters until the adjusted positional deviation is less than or equal to the preset threshold.

[0172] In an optional implementation, when adjusting the target centerline and the target line segment by coarse-grained adjustment of the target parameters, the processor is configured to:

[0173] When the target line segment is located to the right of the target center line, the target parameter is reduced according to the adjustment step size corresponding to the coarseness;

[0174] or,

[0175] When the target line segment is located to the left of the target center line, the target parameter is increased according to the adjustment step size corresponding to the coarseness.

[0176] In an optional implementation, when adjusting the target centerline and the target line segment by fine-grained adjustment of the target parameters, the processor is configured to:

[0177] When the difference is negative, the target parameter is reduced according to the adjustment step size corresponding to the fine granularity.

[0178] or,

[0179] When the difference is positive, the target parameter is increased according to the adjustment step size corresponding to the fine granularity.

[0180] In an optional implementation, when adjusting the target centerline and the target line segment by fine-grained adjustment of the target parameters, the processor is further configured to:

[0181] In response to the change in position deviation, the target parameter is adjusted according to a target adjustment step size that matches the changed position deviation; wherein the position deviation and the target adjustment step size are positively correlated.

[0182] In one alternative implementation, when calibrating the readings of the steering angle sensor according to the target parameters at the current moment, the processor is configured to:

[0183] The target parameters and steering angle sensor readings are acquired at multiple target times to obtain multiple sets of matched target parameters and steering angle sensor readings; wherein, the target time represents the time when the adjusted position deviation is less than or equal to the preset threshold.

[0184] Using the target parameter in each group as the dependent variable and the reading of the steering angle sensor in each group as the independent variable, calibration parameters for calibrating the reading of the steering angle sensor are determined based on the linear relationship between the matched target parameter and the reading of the steering angle sensor in each group.

[0185] Using the computer-readable storage medium provided in the embodiments of this application, a laser positioning device installed on the target vehicle collects laser positioning data at various points on the target vehicle. Based on the collected laser positioning data, the first position information corresponding to the centerline of the target front vehicle body component in a first coordinate system is determined. In a second coordinate system corresponding to the steering axis of the vehicle body equipped with a steering angle sensor, the second position information corresponding to the centerline of the target front vehicle body component in the second coordinate system is determined. According to the coordinate transformation matrix between the first and second coordinate systems, the first or second position information is transformed to obtain the first and second position information in the same target coordinate system. By adjusting the target parameters in the coordinate transformation matrix, the positional deviation between the first and second position information in the target coordinate system is adjusted. When the adjusted positional deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current moment. Thus, this application achieves automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual intervention, which is beneficial for improving the accuracy of automatic navigation control of the target vehicle and the safety of vehicle operation.

[0186] In the embodiments of this application, the computer-readable storage medium can also execute other machine-readable instructions when the processor runs, to perform the calibration method of the steering angle sensor as described in other embodiments. For the specific steps and principles of the calibration method of the steering angle sensor, please refer to the description of the method-side embodiment, which will not be repeated here.

[0187] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0188] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0189] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0190] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0191] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0192] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A calibration method for a steering angle sensor, characterized in that, The calibration method includes: The laser positioning device installed on the target vehicle collects laser positioning data at various points on the target vehicle, and determines the first position information corresponding to the centerline of the target front vehicle body component in the first coordinate system based on the collected laser positioning data; wherein, the laser positioning device is installed at any central position on the top of the rear vehicle body of the target vehicle, the target front vehicle body component represents any centrally symmetrical front vehicle body component on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data. In the second coordinate system corresponding to the steering axis of the vehicle body equipped with the steering angle sensor, determine the second position information of the centerline of the target front body component in the second coordinate system; Based on the coordinate transformation matrix between the first coordinate system and the second coordinate system, the first position information or the second position information is transformed to obtain first position information and second position information under the same target coordinate system; wherein, the target coordinate system represents the first coordinate system or the second coordinate system; By adjusting the target parameters in the coordinate transformation matrix, the positional deviation between the first position information and the second position information in the target coordinate system is adjusted. When the adjusted positional deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current time. The target parameters represent the assumed result of the steering angle. After obtaining the first position information and the second position information in the same target coordinate system, the positional deviation between the first position information and the second position information in the target coordinate system is determined by the following method: Based on the first position information in the target coordinate system, determine the left edge position coordinates and right edge position coordinates of the target front vehicle body component in the target coordinate system, respectively. From the second position information in the target coordinate system, determine the center position coordinates of the center point of the target front vehicle body component in the target coordinate system, and determine the straight line that passes through the center position coordinates and is perpendicular to the target front vehicle body component as the target center line; Based on the intersection point between the target centerline and the target line segment, the difference between the first line segment and the second line segment is calculated, and the absolute value of the difference is taken as the position deviation; wherein, the target line segment represents the line segment between the left edge position coordinate and the right edge position coordinate, the first line segment represents the line segment between the left edge position coordinate and the intersection point, and the second line segment represents the line segment between the right edge position coordinate and the intersection point.

2. The calibration method according to claim 1, characterized in that, The method of adjusting the positional deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix includes: When there is no intersection between the target centerline and the target line segment, the target centerline and the target line segment are adjusted by coarse-grained adjustment of the target parameters until there is an intersection between the adjusted target centerline and the target line segment. or, When there is an intersection between the target centerline and the target line segment, the target centerline and the target line segment are adjusted by fine-grained adjustment of the target parameters until the adjusted positional deviation is less than or equal to the preset threshold.

3. The calibration method according to claim 2, characterized in that, The method of coarse-grained adjustment of the target parameter includes: When the target line segment is located to the right of the target center line, the target parameter is reduced according to the adjustment step size corresponding to the coarseness; or, When the target line segment is located to the left of the target center line, the target parameter is increased according to the adjustment step size corresponding to the coarseness.

4. The calibration method according to claim 2, characterized in that, The method of fine-grained adjustment of the target parameter includes: When the difference is negative, the target parameter is reduced according to the adjustment step size corresponding to the fine granularity. or, When the difference is positive, the target parameter is increased according to the adjustment step size corresponding to the fine granularity.

5. The calibration method according to claim 2, characterized in that, The method of fine-grained adjustment of the target parameter further includes: In response to the change in position deviation, the target parameter is adjusted according to a target adjustment step size that matches the changed position deviation; wherein the position deviation and the target adjustment step size are positively correlated.

6. The calibration method according to claim 1, characterized in that, The step of calibrating the reading of the steering angle sensor based on the target parameters at the current moment includes: The target parameters and steering angle sensor readings are acquired at multiple target times to obtain multiple sets of matched target parameters and steering angle sensor readings; wherein, the target time represents the time when the adjusted position deviation is less than or equal to the preset threshold. Using the target parameter in each group as the dependent variable and the reading of the steering angle sensor in each group as the independent variable, calibration parameters for calibrating the reading of the steering angle sensor are determined based on the linear relationship between the matched target parameter and the reading of the steering angle sensor in each group.

7. A calibration device for a steering angle sensor, characterized in that, The calibration device includes: The first positioning module is used to collect laser positioning data of various points on the target vehicle through a laser positioning device installed on the target vehicle, and determine the first position information corresponding to the center line of the target front vehicle body component in a first coordinate system based on the collected laser positioning data; wherein, the laser positioning device is installed at any central position on the top of the rear vehicle body of the target vehicle, the target front vehicle body component represents any centrally symmetrical front vehicle body component on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data. The second positioning module is used to determine the second position information of the centerline of the target front body component in the second coordinate system corresponding to the steering axis of the vehicle body on which the steering angle sensor is installed; The coordinate transformation module is used to perform coordinate transformation on the first position information or the second position information according to the coordinate transformation matrix between the first coordinate system and the second coordinate system, so as to obtain the first position information and the second position information under the same target coordinate system; wherein, the target coordinate system represents the first coordinate system or the second coordinate system; An angle calibration module is used to adjust the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, and to calibrate the reading of the steering angle sensor according to the target parameters at the current time when the adjusted position deviation is less than or equal to a preset threshold; wherein, the target parameters represent the assumed result of the steering angle; The angle calibration module is used to determine the positional deviation between the first position information and the second position information in the target coordinate system using the following method: Based on the first position information in the target coordinate system, determine the left edge position coordinates and right edge position coordinates of the target front vehicle body component in the target coordinate system, respectively. From the second position information in the target coordinate system, determine the center position coordinates of the center point of the target front vehicle body component in the target coordinate system, and determine the straight line that passes through the center position coordinates and is perpendicular to the target front vehicle body component as the target center line; Based on the intersection point between the target centerline and the target line segment, the difference between the first line segment and the second line segment is calculated, and the absolute value of the difference is taken as the position deviation; wherein, the target line segment represents the line segment between the left edge position coordinate and the right edge position coordinate, the first line segment represents the line segment between the left edge position coordinate and the intersection point, and the second line segment represents the line segment between the right edge position coordinate and the intersection point.

8. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the calibration method for the steering angle sensor as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the calibration method for the steering angle sensor as described in any one of claims 1 to 6.

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